[Bug] THR_MDL_FAC causes VTOL motors not stop spinning during Fixed-wing cruising phase Firmware V 1.15

[saengphet]

Describe the bug

During the flight test, if THR_MDL_FAC was set to a value > 0, such as 0.2-0.5, the VTOL motor would continue to spin (observed and confirmed by eyes). I also checked the flight log and saw that the VTOL was spinning at minimum PWM, e.g., 1080.

In the next flight. I set THR_MDL_FAC = 0, and the VTOL motors stopped spinning.were

To Reproduce

THR_MDL_FAC > 0 and transition to fixed-wing mode (in-air or on ground have the same behavior).

Expected behavior

THR_MDL_FAC > 0 and all VTOL motor stop spinning during fixed-wing cruising phase.the

Screenshot / Media

No response

Flight Log

No response

Software Version

No response

Flight controller

CubeOrange

Vehicle type

Hybrid VTOL

How are the different components wired up (including port information)

No response

Additional context

No response

[sfuhrer]

Good find. I could reproduce in SITL. See the two screenshots below: if THR_MDL_FAC is non-zero, the output of the hovering motors in fixed-wing flight (vtol_state 4) is 1000, while it should be 900 (disarmed).

[sfuhrer]

BTW @saengphet be careful, afaik what you set in THR_MDL_FAC will also be applied to the pusher motor of a VTOL. There is no distinction.

[MaEtUgR]

Thanks for the report and quick fix 👍